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Commit 6522a61a 由 几米阳光
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上料部分代码

1 个父辈 d35479f7
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正在显示 25 个修改的文件 包含 427 行增加 和 190 行删除
source/ACSingleStore/App.config
...@@ -29,10 +29,10 @@ ...@@ -29,10 +29,10 @@
<add key="CodeType" value="Data Matrix ECC 200" /> <add key="CodeType" value="Data Matrix ECC 200" />
<!--<add key="CodeType" value="Data Matrix ECC 200"/>--> <!--<add key="CodeType" value="Data Matrix ECC 200"/>-->
<!--二维码参数文件所在路径，文件名与二维码类型名一样--> <!--二维码参数文件所在路径，文件名与二维码类型名一样-->
<add key="CodeParamPath" value="\CodeParam\" /> <add key="CodeParamPath" value="\CodeParam\" />
<add key ="AI_ConvertPosition" value ="55"/>
<add key ="InOutDefaultPosition" value ="3000"/> <add key ="InOutDefaultPosition" value ="3000"/>
<add key ="Config_Pwd" value ="123456"/> <add key ="Config_Pwd" value ="123456"/>
<add key ="AxisChangeValue" value ="100"/>
</appSettings> </appSettings>
<log4net> <log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......
source/ACSingleStore/FrmAxisDebug.cs
...@@ -51,7 +51,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -51,7 +51,7 @@ namespace OnlineStore.AutoInOutStore
txtInOutSpeed.Text = inout.TargetSpeed.ToString(); txtInOutSpeed.Text = inout.TargetSpeed.ToString();
txtUpDownSpeed.Text = updown.TargetSpeed.ToString(); txtUpDownSpeed.Text = updown.TargetSpeed.ToString();
txtAutoSpeed.Text = auto.TargetSpeed.ToString(); txtAutoSpeed.Text = auto.TargetSpeed.ToString();
txtComSpeed.Text = AutoStoreManager.Config.CompressAxis_EndSpeed.ToString(); txtComSpeed.Text = StoreManager.Config.CompressAxis_EndSpeed.ToString();
timer1.Start(); timer1.Start();
} }
/// <summary> /// <summary>
...@@ -135,7 +135,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -135,7 +135,7 @@ namespace OnlineStore.AutoInOutStore
{ {
if (this.btnInOutMove.BackColor .Equals(System.Drawing.SystemColors.Control)) if (this.btnInOutMove.BackColor .Equals(System.Drawing.SystemColors.Control))
{ {
if (AutoStoreManager.Store.InOutAxisCanMove().Equals(false)) if (StoreManager.Store.InOutAxisCanMove().Equals(false))
{ {
MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning); MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return; return;
...@@ -222,7 +222,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -222,7 +222,7 @@ namespace OnlineStore.AutoInOutStore
{ {
if (btnInOutMovej.BackColor.Equals(System.Drawing.SystemColors.Control)) if (btnInOutMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
{ {
if (AutoStoreManager.Store.InOutAxisCanMove().Equals(false)) if (StoreManager.Store.InOutAxisCanMove().Equals(false))
{ {
MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning); MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return; return;
......
source/ACSingleStore/FrmIOStatus.cs
...@@ -234,25 +234,25 @@ namespace OnlineStore.AutoInOutStore ...@@ -234,25 +234,25 @@ namespace OnlineStore.AutoInOutStore
} }
private void btnOpenDoor_Click(object sender, EventArgs e) private void btnOpenDoor_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH); KND.IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
boxBean.KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); KND.IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
} }
private void btnCloseDoor_Click(object sender, EventArgs e) private void btnCloseDoor_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH); KND.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
boxBean.KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW); KND.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
} }
private void btnLocationUp_Click(object sender, EventArgs e) private void btnLocationUp_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); KND.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
boxBean.KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH); KND.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
} }
private void btnLocationDown_Click(object sender, EventArgs e) private void btnLocationDown_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); KND.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
boxBean.KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW); KND.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
} }
private void FrmIOStatus_Shown(object sender, EventArgs e) private void FrmIOStatus_Shown(object sender, EventArgs e)
...@@ -262,12 +262,12 @@ namespace OnlineStore.AutoInOutStore ...@@ -262,12 +262,12 @@ namespace OnlineStore.AutoInOutStore
private void btnOpenAxisBreak_Click(object sender, EventArgs e) private void btnOpenAxisBreak_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.Axis_Brake, IO_VALUE.HIGH); KND.IOMove(IO_Type.Axis_Brake, IO_VALUE.HIGH);
} }
private void btnCloseAxisBreak_Click(object sender, EventArgs e) private void btnCloseAxisBreak_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.Axis_Brake, IO_VALUE.LOW); KND.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
} }
private void button1_Click(object sender, EventArgs e) private void button1_Click(object sender, EventArgs e)
...@@ -277,12 +277,46 @@ namespace OnlineStore.AutoInOutStore ...@@ -277,12 +277,46 @@ namespace OnlineStore.AutoInOutStore
private void btnOpenLed_Click(object sender, EventArgs e) private void btnOpenLed_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH); KND.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
} }
private void btnCloseLed_Click(object sender, EventArgs e) private void btnCloseLed_Click(object sender, EventArgs e)
{ {
boxBean.KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW); KND.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
}
private void btnSuckingDiscUp_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.SuckingDisc_Down, IO_VALUE.LOW);
KND.IOMove(IO_Type.SuckingDisc_Up, IO_VALUE.HIGH);
}
private void btnSuckingDiscDown_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.SuckingDisc_Up, IO_VALUE.LOW);
KND.IOMove(IO_Type.SuckingDisc_Down, IO_VALUE.HIGH);
}
private void btnDOpen_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.LOW);
KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.HIGH);
}
private void btnDClose_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.LOW);
KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.HIGH);
}
private void btnSXi_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
}
private void btnSXil_Click(object sender, EventArgs e)
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
} }
} }
} }
source/Common/Setting_Init.cs
...@@ -61,15 +61,16 @@ namespace OnlineStore.Common ...@@ -61,15 +61,16 @@ namespace OnlineStore.Common
/// 配置文件路径 Data Matrix ECC 200.dcm /// 配置文件路径 Data Matrix ECC 200.dcm
/// </summary> /// </summary>
public static string CodeParamPath = "CodeParamPath"; public static string CodeParamPath = "CodeParamPath";
/// <summary>
/// 高度传感器转换系数
/// </summary>
public static string AI_ConvertPosition = "AI_ConvertPosition";
/// <summary> /// <summary>
/// 进出轴最大待机点，需要小于3000 /// 进出轴最大待机点，需要小于3000
/// </summary> /// </summary>
public static string InOutDefaultPosition = "InOutDefaultPosition"; public static string InOutDefaultPosition = "InOutDefaultPosition";
public static string Config_Pwd = "Config_Pwd"; public static string Config_Pwd = "Config_Pwd";
/// <summary>
/// 上料轴转换系数，plus/mm
/// </summary>
public static string AxisChangeValue = "AxisChangeValue";
} }
} }
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -58,7 +58,9 @@ ...@@ -58,7 +58,9 @@
<ItemGroup> <ItemGroup>
<Compile Include="acSingleStore\AC_SA_BoxBean.cs" /> <Compile Include="acSingleStore\AC_SA_BoxBean.cs" />
<Compile Include="acSingleStore\AC_SA_BoxBean_Partial.cs" /> <Compile Include="acSingleStore\AC_SA_BoxBean_Partial.cs" />
<Compile Include="acSingleStore\ACStoreManager.cs" /> <Compile Include="acSingleStore\AutomaticBaiting_Partial.cs" />
<Compile Include="acSingleStore\StoreManager.cs" />
<Compile Include="acSingleStore\AutomaticBaiting.cs" />
<Compile Include="halcon\CodeManager.cs" /> <Compile Include="halcon\CodeManager.cs" />
<Compile Include="KangNaiDe\KNDManager.cs" /> <Compile Include="KangNaiDe\KNDManager.cs" />
<Compile Include="KangNaiDe\MasterTcpClient.cs" /> <Compile Include="KangNaiDe\MasterTcpClient.cs" />
...@@ -76,7 +78,7 @@ ...@@ -76,7 +78,7 @@
<Compile Include="ShuoKe\ShuoKeControls.cs" /> <Compile Include="ShuoKe\ShuoKeControls.cs" />
<Compile Include="store\model\AxisAlarmInfo.cs" /> <Compile Include="store\model\AxisAlarmInfo.cs" />
<Compile Include="store\model\FixtureCodeInfo.cs" /> <Compile Include="store\model\FixtureCodeInfo.cs" />
<Compile Include="store\KTK_DeviceBase.cs" /> <Compile Include="store\AC_DeviceBase.cs" />
<Compile Include="store\InOrOutStoreParam.cs"> <Compile Include="store\InOrOutStoreParam.cs">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
...@@ -84,7 +86,7 @@ ...@@ -84,7 +86,7 @@
<Compile Include="store\model\StoreMoveInfo.cs"> <Compile Include="store\model\StoreMoveInfo.cs">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
<Compile Include="store\KTK_Store.cs" /> <Compile Include="store\AC_Store.cs" />
<Compile Include="store\StoreMoveStep.cs"> <Compile Include="store\StoreMoveStep.cs">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
......
source/DeviceLibrary/KangNaiDe/KNDManager.cs
...@@ -12,6 +12,49 @@ using System.Threading; ...@@ -12,6 +12,49 @@ using System.Threading;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
public class KND
{
#region KNDIO
public static void IOMove(string ioType, IO_VALUE ioValue)
{
if (StoreManager.Config.StoreDOList.ContainsKey(ioType))
{
ConfigIO configIo = StoreManager.Config.StoreDOList[ioType];
KNDManager.WriteSingleDO(configIo.DeviceName, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
Thread.Sleep(60);
}
else
{
LogUtil.error( "没有DO=" + ioType);
}
}
public static IO_VALUE IOValue(string ioType)
{
IO_VALUE ioValue = IO_VALUE.LOW;
if (StoreManager.Config.StoreDIList.ContainsKey(ioType))
{
ConfigIO configIo = StoreManager.Config.StoreDIList[ioType];
ioValue = KNDManager.GetDIValue(configIo.DeviceName, configIo.SlaveID, configIo.GetIOAddr());
//UpdateDoValue(ioType, ioValue);
}
else if (StoreManager.Config.StoreDOList.ContainsKey(ioType))
{
ConfigIO configIo = StoreManager.Config.StoreDOList[ioType];
ioValue = KNDManager.GetDOValue(configIo.DeviceName, configIo.SlaveID, configIo.GetIOAddr());
}
else
{
LogUtil.error( "没有DO=" + ioType);
}
return ioValue;
}
#endregion
}
/// <summary> /// <summary>
/// 康奈德IO控制模块 /// 康奈德IO控制模块
/// </summary> /// </summary>
...@@ -30,6 +73,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -30,6 +73,8 @@ namespace OnlineStore.DeviceLibrary
private static object DOMapLock = ""; private static object DOMapLock = "";
public static System.Timers.Timer timer = null; public static System.Timers.Timer timer = null;
private static ushort port = 502; private static ushort port = 502;
public static void ConnectionIP(string ioIp) public static void ConnectionIP(string ioIp)
{ {
if (timer == null) if (timer == null)
...@@ -80,7 +125,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -80,7 +125,7 @@ namespace OnlineStore.DeviceLibrary
Thread.Sleep(10); Thread.Sleep(10);
//读取所有的DO //读取所有的DO
ReadMultipleDO(ioIp, DefualtSlaveID, DoStartAddress, AutoStoreManager.Config.GetDOLength(ioIp)); ReadMultipleDO(ioIp, DefualtSlaveID, DoStartAddress, StoreManager.Config.GetDOLength(ioIp));
} }
catch (Exception error) catch (Exception error)
...@@ -192,7 +237,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -192,7 +237,7 @@ namespace OnlineStore.DeviceLibrary
foreach (string key in mastMap.Keys) foreach (string key in mastMap.Keys)
{ {
byte[] data = new byte[] { 0, 0 }; byte[] data = new byte[] { 0, 0 };
WriteMultipleDO(key, DefualtSlaveID, DoStartAddress, AutoStoreManager.Config.GetDOLength(key), data); WriteMultipleDO(key, DefualtSlaveID, DoStartAddress, StoreManager.Config.GetDOLength(key), data);
} }
} }
...@@ -209,7 +254,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -209,7 +254,7 @@ namespace OnlineStore.DeviceLibrary
} }
public static void CloseAllDO(string ioIp, byte slaveId) public static void CloseAllDO(string ioIp, byte slaveId)
{ {
ushort length = AutoStoreManager.Config.GetDOLength(ioIp); ushort length = StoreManager.Config.GetDOLength(ioIp);
byte[] bytes = new byte[length]; byte[] bytes = new byte[length];
for (int i = 0; i < length; i++) for (int i = 0; i < length; i++)
{ {
...@@ -394,7 +439,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -394,7 +439,7 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
ushort DILength = AutoStoreManager.Config.GetDILength(ioIp); ushort DILength = StoreManager.Config.GetDILength(ioIp);
string finalData = ""; string finalData = "";
if (values.Length == 2 && DILength.Equals(16)) if (values.Length == 2 && DILength.Equals(16))
{ {
...@@ -444,7 +489,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -444,7 +489,7 @@ namespace OnlineStore.DeviceLibrary
private static void SaveDOData(string ioIp, ushort ID, byte[] values) private static void SaveDOData(string ioIp, ushort ID, byte[] values)
{ {
ushort DoLength = AutoStoreManager.Config.GetDOLength(ioIp); ushort DoLength = StoreManager.Config.GetDOLength(ioIp);
string finalData = ""; string finalData = "";
if (values.Length == 2 && DoLength.Equals(16)) if (values.Length == 2 && DoLength.Equals(16))
{ {
......
source/DeviceLibrary/PanasonicServo/ACCMDManager.cs
...@@ -11,8 +11,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -11,8 +11,18 @@ namespace OnlineStore.DeviceLibrary
/// 0132h 原点接近传感器输入 (HOME) 状态 ReadOnly 0： 输入 OFF 1： 输入 ON /// 0132h 原点接近传感器输入 (HOME) 状态 ReadOnly 0： 输入 OFF 1： 输入 ON
/// </summary> /// </summary>
public static string Home_Single = "0132"; public static string Home_Single = "0132";
//
//
/// <summary>
/// 0022h 负方向驱动禁止输入(NOT) ReadOnly 0： 输入 OFF、 1： 输入 ON
/// </summary>
public static string Limit_Negative_Single = "0022";
/// <summary> /// <summary>
/// 0023h 正方向驱动禁止输入(POT) ReadOnly 0： 输入 OFF、 1： 输入 ON
/// </summary>
public static string Limit_Positive_Single = "0023";
/// <summary>
///速度 4601 ///速度 4601
/// </summary> /// </summary>
public static string Speed_Addr = "4601"; public static string Speed_Addr = "4601";
......
source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs
...@@ -496,6 +496,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -496,6 +496,21 @@ namespace OnlineStore.DeviceLibrary
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single); return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
} }
public static int GetLimitNegativeSingle(string portName, int slvAddr)
{
PreReadCoilAddr = ACCMDManager.Home_Single;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Limit_Negative_Single, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, 100, 6);
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
public static int GetLimitPositiveSingle(string portName, int slvAddr)
{
PreReadCoilAddr = ACCMDManager.Home_Single;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Limit_Positive_Single, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, 100, 6);
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
} }
/// <summary> /// <summary>
/// 记录最后一次获得的寄存器的值 /// 记录最后一次获得的寄存器的值
......
source/DeviceLibrary/ShuoKe/ShuoKeControls.cs
using log4net; using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.IO.Ports; using System.IO.Ports;
...@@ -241,6 +242,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,6 +242,23 @@ namespace OnlineStore.DeviceLibrary
byte[] sendData = WriteData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType); byte[] sendData = WriteData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType);
Thread.Sleep(100); Thread.Sleep(100);
} }
public static void SetConfigSpeed(AUTO_SA_Config Config)
{
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetAddSpeed, Config.CompressAxis_AddSpeed);
Thread.Sleep(60);
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetDelSpeed, Config.CompressAxis_DelSpeed);
Thread.Sleep(60);
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetEndSpeed, Config.CompressAxis_EndSpeed);
Thread.Sleep(60);
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetHomeSpeed, Config.CompressAxis_HomeSpeed);
Thread.Sleep(60);
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetMaxSpeed, Config.CompressAxis_MaxSpeed);
Thread.Sleep(60);
ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetStartSpeed, Config.CompressAxis_StartSpeed);
}
public static void VolMove(int slvAddr, int speed) public static void VolMove(int slvAddr, int speed)
{ {
byte[] sendData = WriteData(slvAddr, ShuoKeCMD.VolMove, 0x04, speed); byte[] sendData = WriteData(slvAddr, ShuoKeCMD.VolMove, 0x04, speed);
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -11,8 +11,8 @@ DI,料盘宽度检测1,WidthCheck1,208,192.168.200.10,0,料盘宽度检测1,X09,DI-09,0, ...@@ -11,8 +11,8 @@ DI,料盘宽度检测1,WidthCheck1,208,192.168.200.10,0,料盘宽度检测1,X09,DI-09,0,
DI,料盘宽度检测2,WidthCheck2,209,192.168.200.10,0,料盘宽度检测2,X10,DI-10,0, DI,料盘宽度检测2,WidthCheck2,209,192.168.200.10,0,料盘宽度检测2,X10,DI-10,0,
DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial ,210,192.168.200.10,0,料盘检测1（上料机构）,X11,DI-11,0, DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial ,210,192.168.200.10,0,料盘检测1（上料机构）,X11,DI-11,0,
DI,上料机构出料检测,OutCheck,211,192.168.200.10,0,上料机构出料检测,X12,DI-12,0, DI,上料机构出料检测,OutCheck,211,192.168.200.10,0,上料机构出料检测,X12,DI-12,0,
DI,门锁气缸打开端,Door_Open,212,192.168.200.10,0,门锁气缸打开端,X13,DI-13,0, DI,门锁气缸打开端,AutoDoor_Open,212,192.168.200.10,0,门锁气缸打开端,X13,DI-13,0,
DI,门锁气缸关闭端,Door_Close,213,192.168.200.10,0,门锁气缸关闭端,X14,DI-14,0, DI,门锁气缸关闭端,AutoDoor_Close,213,192.168.200.10,0,门锁气缸关闭端,X14,DI-14,0,
DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.10,0,料盘检测2（料叉机构）,X15,DI-15,0, DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.10,0,料盘检测2（料叉机构）,X15,DI-15,0,
DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.10,0,压紧机构计量检测,X16,DI-16,0, DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.10,0,压紧机构计量检测,X16,DI-16,0,
DO,自动指示灯,AutoRun_HddLed,100,192.168.200.10,0,自动指示灯,Y01,DO-01,0, DO,自动指示灯,AutoRun_HddLed,100,192.168.200.10,0,自动指示灯,Y01,DO-01,0,
...@@ -27,8 +27,8 @@ DO,进料口门上升SOL,Door_Up,108,192.168.200.10,0,进料口门上升SOL,Y09,DO-09,0, ...@@ -27,8 +27,8 @@ DO,进料口门上升SOL,Door_Up,108,192.168.200.10,0,进料口门上升SOL,Y09,DO-09,0,
DO,进料口门下降SOL,Door_Down,109,192.168.200.10,0,进料口门下降SOL,Y10,DO-10,0, DO,进料口门下降SOL,Door_Down,109,192.168.200.10,0,进料口门下降SOL,Y10,DO-10,0,
DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.10,0,吸盘气缸上升SOL,Y11,DO-11,0, DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.10,0,吸盘气缸上升SOL,Y11,DO-11,0,
DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.10,0,吸盘气缸下降SOL,Y12,DO-12,0, DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.10,0,吸盘气缸下降SOL,Y12,DO-12,0,
DO,门锁气缸打开SOL,Door_Open,112,192.168.200.10,0,门锁气缸打开SOL,Y13,DO-13,0, DO,门锁气缸打开SOL,AutoDoor_Open,112,192.168.200.10,0,门锁气缸打开SOL,Y13,DO-13,0,
DO,门锁气缸关闭SOL,Door_Close,113,192.168.200.10,0,门锁气缸关闭SOL,Y14,DO-14,0, DO,门锁气缸关闭SOL,AutoDoor_Close,113,192.168.200.10,0,门锁气缸关闭SOL,Y14,DO-14,0,
,,,114,192.168.200.10,0,,Y15,DO-15,0, ,,,114,192.168.200.10,0,,Y15,DO-15,0,
,,,115,192.168.200.10,0,,Y16,DO-16,0, ,,,115,192.168.200.10,0,,Y16,DO-16,0,
DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.11,0,上料机构门关闭,X17,DI-21,0, DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.11,0,上料机构门关闭,X17,DI-21,0,
...@@ -125,11 +125,7 @@ PRO,硕科步进电机（压紧轴）控制减速度,CompressAxis_DelSpeed,15000,,,,,,, ...@@ -125,11 +125,7 @@ PRO,硕科步进电机（压紧轴）控制减速度,CompressAxis_DelSpeed,15000,,,,,,,
PRO,硕科步进电机（压紧轴）控制归零速度（原点返回速度）,CompressAxis_HomeSpeed,15000,,,,,,, PRO,硕科步进电机（压紧轴）控制归零速度（原点返回速度）,CompressAxis_HomeSpeed,15000,,,,,,,
PRO,硕科步进电机轴地址（压紧轴),CompressAxis_Slv,1,,,,,, , PRO,硕科步进电机轴地址（压紧轴),CompressAxis_Slv,1,,,,,, ,
,,,,,,,,,, ,,,,,,,,,,
PRO,模拟量IO模块的IP地址,AIDevice_IP,192.168.200.12,,,,,,, PRO,（轴五）自动轴目标速度,AutoAxis_TargetSpeed,50,,,,,,,
PRO,模拟信号1默认高度,AIDI1_DefaultPosition,2500,,,,,,,
PRO,模拟信号2默认高度,AIDI2_DefaultPosition,2500,,,,,,,
PRO,模拟信号3默认高度,AIDI3_DefaultPosition,2500,,,,,,,
PRO,（轴五）自动轴目标速度,AutoAxis_TargetSpeed,1000,,,,,,,
PRO,（轴五）自动轴加速度,AutoAxis_AddSpeed,300,,,,,,, PRO,（轴五）自动轴加速度,AutoAxis_AddSpeed,300,,,,,,,
PRO,（轴五）自动轴减速度,AutoAxis_DelSpeed,300,,,,,,, PRO,（轴五）自动轴减速度,AutoAxis_DelSpeed,300,,,,,,,
PRO,（轴五）自动轴原点低速,AutoAxis_HomeLowSpeed,20,,,,,,, PRO,（轴五）自动轴原点低速,AutoAxis_HomeLowSpeed,20,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -144,7 +144,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -144,7 +144,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (wait.WaitType == 2) else if (wait.WaitType == 2)
{ {
wait.IsEnd = KNDIOValue(wait.IoType).Equals(wait.IoValue); wait.IsEnd = KND.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut; int timeOutMs = Config.IOSingle_TimerOut;
if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake) if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake)
{ {
...@@ -165,11 +165,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -165,11 +165,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds); wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}else if (wait.WaitType == 7) }else if (wait.WaitType == 7)
{ {
wait.IsEnd = (wait.HeightValue.Equals(GetHeight())); //wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
if (wait.IsEnd)
{
LogUtil.info("等待height="+ wait.HeightValue+"完成");
}
} }
else if (wait.WaitType == 5) else if (wait.WaitType == 5)
{ {
...@@ -256,7 +252,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -256,7 +252,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，找不到库位信息"); LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，找不到库位信息");
return; return;
} }
if (KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{ {
LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，叉子料盘检测有料"); LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
return; return;
...@@ -407,8 +403,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -407,8 +403,8 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭舱门 //关闭舱门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH); KND.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW); KND.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
} }
else else
{ {
...@@ -424,8 +420,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -424,8 +420,8 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭舱门 //关闭舱门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH); KND.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW); KND.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{ {
...@@ -444,7 +440,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -444,7 +440,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down) else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{ {
//KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); //KND.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) "); InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
...@@ -528,7 +524,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -528,7 +524,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，找不到库位信息"); LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，找不到库位信息");
return; return;
} }
if (KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{ {
LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，叉子料盘检测有料"); LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
return; return;
...@@ -646,7 +642,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -646,7 +642,7 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//此处需要等待box门口没有盘 //此处需要等待box门口没有盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0)); //StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
//打开舱门 //打开舱门
OpenDoorAndWait(); OpenDoorAndWait();
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.LOW)); //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.LOW));
...@@ -705,7 +701,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -705,7 +701,7 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SO_14_WaitTake); StoreMove.NextMoveStep(StoreMoveStep.SO_14_WaitTake);
OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待10000"); OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待10000");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0)); //StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
StoreMove.OneWaitCanEndStep = true; StoreMove.OneWaitCanEndStep = true;
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake) else if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake)
...@@ -735,15 +731,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -735,15 +731,15 @@ namespace OnlineStore.DeviceLibrary
} }
public bool InOutAxisCanMove() public bool InOutAxisCanMove()
{ {
if (AutoStoreManager.Store.Config.IsHasLocationCylinder.Equals(0)) if (StoreManager.Store.Config.IsHasLocationCylinder.Equals(0))
{ {
return true; return true;
} }
if (KNDIOValue(IO_Type.LocationCylinder_Down).Equals(IO_VALUE.HIGH) if (KND.IOValue(IO_Type.LocationCylinder_Down).Equals(IO_VALUE.HIGH)
&& KNDIOValue(IO_Type.LocationCylinder_Up).Equals(IO_VALUE.LOW) && KND.IOValue(IO_Type.LocationCylinder_Up).Equals(IO_VALUE.LOW)
&& KNDIOValue(IO_Type.LocationCylinder2_Down).Equals(IO_VALUE.HIGH) && KND.IOValue(IO_Type.LocationCylinder2_Down).Equals(IO_VALUE.HIGH)
&& KNDIOValue(IO_Type.LocationCylinder2_Up).Equals(IO_VALUE.LOW)) && KND.IOValue(IO_Type.LocationCylinder2_Up).Equals(IO_VALUE.LOW))
{ {
return true; return true;
} }
...@@ -753,8 +749,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -753,8 +749,8 @@ namespace OnlineStore.DeviceLibrary
{ {
if (Config.IsHasLocationCylinder>=1) if (Config.IsHasLocationCylinder>=1)
{ {
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH); KND.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); KND.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Up, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Up, IO_VALUE.HIGH));
...@@ -765,8 +761,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -765,8 +761,8 @@ namespace OnlineStore.DeviceLibrary
{ {
if (Config.IsHasLocationCylinder>=1) if (Config.IsHasLocationCylinder>=1)
{ {
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); KND.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW); KND.IOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Down, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder2_Down, IO_VALUE.HIGH));
......
source/DeviceLibrary/acSingleStore/ACStoreManager.cs → source/DeviceLibrary/acSingleStore/StoreManager.cs
...@@ -11,8 +11,15 @@ using System.Windows.Forms; ...@@ -11,8 +11,15 @@ using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
public class AutoStoreManager public class StoreManager
{ {
/// <summary>
/// 当前出入库的模式
/// </summary>
public static int CurrInOutType = 0;
private static string api_communication = "service/store/communication"; //流水线状态通信接口 private static string api_communication = "service/store/communication"; //流水线状态通信接口
private static string api_nextFeeder = "service/store/nextFeeder"; // 出库站位列表切换接口 private static string api_nextFeeder = "service/store/nextFeeder"; // 出库站位列表切换接口
public static readonly ILog LOGGER = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
...@@ -20,7 +27,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -20,7 +27,7 @@ namespace OnlineStore.DeviceLibrary
public static AUTO_SA_Config Config = null; public static AUTO_SA_Config Config = null;
private static bool isInit = false; private static bool isInit = false;
public static bool IsConnectServer=!ConfigAppSettings.GetValue(Setting_Init.http_server).Equals(""); public static bool IsConnectServer=!ConfigAppSettings.GetValue(Setting_Init.http_server).Equals("");
public AutoStoreManager() public StoreManager()
{ {
} }
public static bool OpenShuoKe(AC_SA_BoxBean box) public static bool OpenShuoKe(AC_SA_BoxBean box)
...@@ -95,10 +102,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -95,10 +102,9 @@ namespace OnlineStore.DeviceLibrary
CSVPositionReader<AutoStorePosition>.ReloadCSVFile(positionConfigFile); CSVPositionReader<AutoStorePosition>.ReloadCSVFile(positionConfigFile);
} }
Config = (AUTO_SA_Config)storeConfig; Config = (AUTO_SA_Config)storeConfig;
AC_SA_BoxBean storeBean = new AC_SA_BoxBean(Config); Store = new AC_SA_BoxBean(Config);
storeBean.CID = CID; Store.CID = CID;
LogUtil.info(LOGGER, "加载料仓完成！"); LogUtil.info(LOGGER, "加载料仓完成！");
Store = storeBean;
return Store; return Store;
} }
} }
......
source/DeviceLibrary/store/KTK_DeviceBase.cs → source/DeviceLibrary/store/AC_DeviceBase.cs
...@@ -10,7 +10,7 @@ using System.Text; ...@@ -10,7 +10,7 @@ using System.Text;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
public abstract class KTK_DeviceBase public abstract class AC_DeviceBase
{ {
/// <summary> /// <summary>
/// 料仓单个调试状态(默认不是调试状态) /// 料仓单个调试状态(默认不是调试状态)
...@@ -53,13 +53,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -53,13 +53,15 @@ namespace OnlineStore.DeviceLibrary
{ {
if (!isInit) if (!isInit)
{ {
StoreMove = new StoreMoveInfo(StoreID); StoreMove = new StoreMoveInfo(StoreName);
mainTimer = new System.Timers.Timer(); mainTimer = new System.Timers.Timer();
mainTimer.Enabled = false; mainTimer.Enabled = false;
mainTimer.Interval = 300; mainTimer.Interval = 300;
mainTimer.Elapsed += timersTimer_Elapsed; mainTimer.Elapsed += timersTimer_Elapsed;
mainTimer.AutoReset = true; mainTimer.AutoReset = true;
isInit = true; isInit = true;
} }
} }
......
source/DeviceLibrary/store/KTK_Store.cs → source/DeviceLibrary/store/AC_Store.cs
...@@ -3,6 +3,7 @@ using OnlineStore.Common; ...@@ -3,6 +3,7 @@ using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
...@@ -14,24 +15,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -14,24 +15,14 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 康泰克单台自动料仓 /// 康泰克单台自动料仓
/// </summary> /// </summary>
public abstract class KTK_Store : KTK_DeviceBase public abstract class AC_Store : AC_DeviceBase
{ {
public KTK_Store() public AC_Store()
{ {
} }
/// <summary> public Stopwatch runTimeWatch = new Stopwatch();
/// 开始运行的时间
/// </summary>
public DateTime StartTime { get; set; }
public DateTime statusTime = DateTime.Now;
/// <summary>
/// 伺服运行时间列表，key=轴，key=开始时间，value=结束时间
/// </summary>
//public Dictionary<int, Dictionary<DateTime, DateTime>> AxisRunTimeMap = new Dictionary<int, Dictionary<DateTime, DateTime>>();
//public Dictionary<int, DateTime> AxisLastStartTime = new Dictionary<int, DateTime>();
/// <summary> /// <summary>
/// 最后一次气压检测变为0的时间 /// 最后一次气压检测变为0的时间
/// </summary> /// </summary>
...@@ -60,8 +51,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -60,8 +51,7 @@ namespace OnlineStore.DeviceLibrary
public object lastDiListLock = ""; public object lastDiListLock = "";
public void addLastDI(string type, IO_VALUE value) public void addLastDI(string type, IO_VALUE value)
{ {
try try
{ {
lock (lastDiListLock) lock (lastDiListLock)
...@@ -78,45 +68,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -78,45 +68,14 @@ namespace OnlineStore.DeviceLibrary
LOGGER.Error(ex.ToString()); LOGGER.Error(ex.ToString());
} }
} }
/// <summary>
/// 获取料仓运行的时间
/// </summary>
/// <returns></returns>
public TimeSpan GetStoreRunTime()
{
if (StartTime != null)
{
return DateTime.Now - StartTime;
}
else
{
return new TimeSpan(0);
}
}
protected void AddAxisMoveTime(ConfigMoveAxis axis)
{
//int axisNo = axis.GetAxisValue();
//if (AxisLastStartTime.ContainsKey(axisNo))
//{
// AxisLastStartTime.Remove(axisNo);
//}
//AxisLastStartTime.Add(axisNo, DateTime.Now);
}
/// <summary> /// <summary>
/// 运动处理 /// 运动处理
/// </summary> /// </summary>
protected bool isInPro = false; protected bool isInPro = false;
protected virtual void BusyMoveProcess() protected virtual void BusyMoveProcess()
{ {
//if (isInPro)
//{
// return;
//}
isInPro = true; isInPro = true;
try try
{ {
...@@ -226,8 +185,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -226,8 +185,7 @@ namespace OnlineStore.DeviceLibrary
{ {
moveAxis.TargetPosition = 0; moveAxis.TargetPosition = 0;
LogUtil.debug(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回"); LogUtil.debug(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
AddAxisMoveTime(moveAxis);
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed); ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
} }
...@@ -237,8 +195,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -237,8 +195,7 @@ namespace OnlineStore.DeviceLibrary
protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed) protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{ {
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
AddAxisMoveTime(moveAxis);
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed); ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed);
} }
...@@ -309,44 +266,33 @@ namespace OnlineStore.DeviceLibrary ...@@ -309,44 +266,33 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis,out string msg) protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
{ {
msg = ""; msg = "";
if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()) ) if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
{ {
//原点完成并且位置=0 //原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue()); int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount ); int errorCount = Math.Abs(outCount);
if (errorCount > moveAxis.CanErrorCountMax) if (errorCount <= moveAxis.CanErrorCountMax)
{ {
//判断是否需要重新运动 return true;
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(LOGGER, moveAxis.DisplayStr + "收到原点完成信号，当前位置["+outCount+ "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
//LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.CanWhileCount--;
}
else
{
msg = StoreName + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(LOGGER, msg);
return false;
}
} }
else //判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{ {
return true; LogUtil.error(LOGGER, moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.CanWhileCount--;
} }
return true; else
{
msg = StoreName + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(LOGGER, msg);
}
} }
return false; return false;
} }
protected bool AxisCountClear(ConfigMoveAxis moveAxis)
{
return true;
}
} }
......
source/DeviceLibrary/store/LineAlarm.cs
...@@ -37,6 +37,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -37,6 +37,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public static int CompressAxisAlarm = 14; public static int CompressAxisAlarm = 14;
/// <summary> /// <summary>
/// 轴五（自动轴）报警
/// </summary>
public static int AutoAxisAlarm = 20;
/// <summary>
/// 轴异常停止（没有走到对应的位置就停止） /// 轴异常停止（没有走到对应的位置就停止）
/// </summary> /// </summary>
public static int AxisErrorStop = 15; public static int AxisErrorStop = 15;
......
source/DeviceLibrary/store/StoreMoveStep.cs
...@@ -307,10 +307,102 @@ namespace OnlineStore.DeviceLibrary ...@@ -307,10 +307,102 @@ namespace OnlineStore.DeviceLibrary
SI_14_GoBack = 214, SI_14_GoBack = 214,
#endregion #endregion
#region 自动上下料机构复位
/// <summary>
/// 关闭门锁
/// </summary>
AUTO_R01_CloseDoor =1101,
/// <summary>
/// 自动轴原点返回
/// </summary>
AUTO_R02_AutoAxisHome = 1102,
/// <summary>
/// 检测机构内是否有料盘
/// </summary>
AUTO_R03_AutoAxisHome = 1103,
/// <summary>
/// 上料轴返回0点
/// </summary>
AUTO_R04_AutoBack=1104,
#endregion
#region 自动上下料上料功能
/// <summary>
/// 先上升到料盘检测1（上料机构）信号亮
/// </summary>
AUTO_I01_MoveToUp,
/// <summary>
/// 吸盘下降
/// </summary>
AUTO_I02_SuckingDisc_Down,
/// <summary>
/// 吸盘吸料盘
/// </summary>
AUTO_I03_SuckingDisc_Work,
/// <summary>
/// 吸盘上升 ，同时上料轴也要上升
/// </summary>
AUTO_I04_SuckingDisc_Up,
/// <summary>
/// 扫码
/// </summary>
AUTO_I05_ScanCode,
/// <summary>
/// 等待料盘被叉子拿走
/// </summary>
AUTO_I06_WaitTrayLeave,
/// <summary>
/// 打开仓门
/// </summary>
AUTO_I07_OpenDoor,
/// <summary>
/// 等待拿走料盘
/// </summary>
AUTO_I08_WaitTakeTray,
/// <summary>
/// 料盘已手动拿走，需要等一秒钟后关闭仓门
/// </summary>
AUTO_I09_TrayLeaveWaitTime,
/// <summary>
/// 关闭仓门
/// </summary>
AUTO_I10_CloseDoor,
#endregion
#region 自动上下料出料功能
/// <summary>
/// 吸盘吸走料盘，同时上料轴开始上升
/// </summary>
AUTO_O01_SuckingDisc_Work,
/// <summary>
/// 等待1秒后吸盘下降
/// </summary>
AUTO_O02_WaitTimeDown,
/// <summary>
/// 吸盘下降
/// </summary>
AUTO_O03_SuckingDisc_Down,
/// <summary>
/// 放下料盘
/// </summary>
AUTO_O04_PutTrayDown,
#endregion
} }
public enum StoreAlarmType public enum StoreAlarmType
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
...@@ -18,12 +18,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -18,12 +18,12 @@ namespace OnlineStore.DeviceLibrary
/// 超时时间 /// 超时时间
/// </summary> /// </summary>
public int TimeOutSeconds = 60; public int TimeOutSeconds = 60;
public StoreMoveInfo(int storeId) public StoreMoveInfo(string deviceName)
{ {
moveType = StoreMoveType.None; moveType = StoreMoveType.None;
MoveParam = new InOutStoreParam(); MoveParam = new InOutStoreParam();
this.storeId = storeId; this.DeviceName = deviceName;
this.moveStep = StoreMoveStep.Wait; this.moveStep = StoreMoveStep.Wait;
IsInWait = false; IsInWait = false;
MoveNum = 0; MoveNum = 0;
...@@ -54,7 +54,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -54,7 +54,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 当前运动是哪个料仓 /// 当前运动是哪个料仓
/// </summary> /// </summary>
public int storeId { get; set; } public string DeviceName { get; set; }
/// <summary> /// <summary>
/// 是否再当前步骤等待中 /// 是否再当前步骤等待中
...@@ -144,6 +144,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -144,6 +144,7 @@ namespace OnlineStore.DeviceLibrary
{ {
private WaitResultInfo() private WaitResultInfo()
{ {
IsEnd = false;
} }
public static WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue) public static WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue)
...@@ -233,14 +234,65 @@ namespace OnlineStore.DeviceLibrary ...@@ -233,14 +234,65 @@ namespace OnlineStore.DeviceLibrary
return wait; return wait;
} }
public static WaitResultInfo WaitHeight(int height) //public static WaitResultInfo WaitHeight(int height)
//{
// WaitResultInfo wait = new WaitResultInfo();
// wait.WaitType = 7;
// wait.HeightValue = height;
// wait.IsEnd = false;
// return wait;
//}
/// <summary>
/// 等待轴的反限位为指定值
/// </summary>
public static WaitResultInfo WaitAxistNegativeLimit(ConfigMoveAxis moveAxis ,IO_VALUE ioValue)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 7; wait.CanWhileMoveCount = 0;
wait.HeightValue = height; wait.WaitType = 8;
wait.AxisInfo = moveAxis;
wait.IsHomeMove = true;
wait.IoValue = ioValue;
wait.IsEnd = false; wait.IsEnd = false;
return wait; return wait;
} }
/// <summary>
/// 等待轴的正限位为指定值
/// </summary>
public static WaitResultInfo WaitAxistPositiveLimit(ConfigMoveAxis moveAxis, IO_VALUE ioValue)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.WaitType = 9;
wait.AxisInfo = moveAxis;
wait.IsHomeMove = true;
wait.IoValue = ioValue;
wait.IsEnd = false;
return wait;
}
/// <summary>
/// 等待上料轴运动 停止
/// </summary>
/// <returns></returns>
public static WaitResultInfo WaitAutoAxisStop(ConfigMoveAxis moveAxis)
{
WaitResultInfo wait = new WaitResultInfo();
wait.CanWhileMoveCount = 0;
wait.AxisInfo = moveAxis;
wait.WaitType = 10;
wait.IsHomeMove = true;
wait.IsEnd = false;
return wait;
}
public static WaitResultInfo WaitCodeOK()
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 11;
return wait;
}
public string ToStr() public string ToStr()
{ {
if (WaitType == 1) if (WaitType == 1)
...@@ -273,10 +325,26 @@ namespace OnlineStore.DeviceLibrary ...@@ -273,10 +325,26 @@ namespace OnlineStore.DeviceLibrary
else if (WaitType == 6) else if (WaitType == 6)
{ {
return "轴【" + AxisInfo.DisplayStr + "】ORG信号：【" + IoValue + "】 "; return "轴【" + AxisInfo.DisplayStr + "】ORG信号：【" + IoValue + "】 ";
}else if (WaitType == 7) }
else if (WaitType == 7)
{ {
return "料盘高度【" + HeightValue + "】 "; return "料盘高度【" + HeightValue + "】 ";
} }
else if (WaitType == 8)
{
return "轴【" + AxisInfo.DisplayStr + "】负限位：【" + IoValue + "】 ";
}
else if (WaitType == 9)
{
return "轴【" + AxisInfo.DisplayStr + "】正限位：【" + IoValue + "】 ";
}
else if (WaitType == 10)
{
return "上料轴运动停止 ";
}else if (WaitType == 11)
{
return "等待扫码结束";
}
else else
{ {
return "Wait位置类型：WaitType=【" + WaitType + "】"; return "Wait位置类型：WaitType=【" + WaitType + "】";
...@@ -288,6 +356,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -288,6 +356,8 @@ namespace OnlineStore.DeviceLibrary
public int CanWhileMoveCount { get; set; } public int CanWhileMoveCount { get; set; }
/// <summary> /// <summary>
/// 等待结果，1=轴运动，2=IO运动，3=时间,4=电钢,5=硕科电机,6=等待轴原点信号 /// 等待结果，1=轴运动，2=IO运动，3=时间,4=电钢,5=硕科电机,6=等待轴原点信号
/// 7=等待高度为0，8=等待轴的负限位，9=等待轴的正限位。10=上料轴运动停止
/// 11=扫码结束。
/// </summary> /// </summary>
public int WaitType { get; set; } public int WaitType { get; set; }
/// <summary> /// <summary>
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
...@@ -471,27 +471,27 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -471,27 +471,27 @@ namespace OnlineStore.LoadCSVLibrary
public string Humiture_Port { get; set; } public string Humiture_Port { get; set; }
/// <summary> ///// <summary>
/// PRO 模拟量IO模块的IP地址 AIDevice_IP 192.168.200.11 ///// PRO 模拟量IO模块的IP地址 AIDevice_IP 192.168.200.11
/// </summary> ///// </summary>
[ConfigProAttribute("AIDevice_IP", true)] //[ConfigProAttribute("AIDevice_IP", true)]
public string AIDevice_IP { get; set; } //public string AIDevice_IP { get; set; }
/// <summary> ///// <summary>
/// PRO,模拟信号1默认高度,AIDI1_DefaultPosition,1,,,,,,, ///// PRO,模拟信号1默认高度,AIDI1_DefaultPosition,1,,,,,,,
/// </summary> ///// </summary>
[ConfigProAttribute("AIDI1_DefaultPosition", true)] //[ConfigProAttribute("AIDI1_DefaultPosition", true)]
public double AIDI1_DefaultPosition { get; set; } //public double AIDI1_DefaultPosition { get; set; }
/// <summary> ///// <summary>
/// PRO,模拟信号2默认高度,AIDI2_DefaultPosition,1,,,,,,, ///// PRO,模拟信号2默认高度,AIDI2_DefaultPosition,1,,,,,,,
/// </summary> ///// </summary>
[ConfigProAttribute("AIDI2_DefaultPosition", true)] //[ConfigProAttribute("AIDI2_DefaultPosition", true)]
public double AIDI2_DefaultPosition { get; set; } //public double AIDI2_DefaultPosition { get; set; }
/// <summary> ///// <summary>
/// PRO,模拟信号3默认高度,AIDI3_DefaultPosition,1,,,,,,, ///// PRO,模拟信号3默认高度,AIDI3_DefaultPosition,1,,,,,,,
/// </summary> ///// </summary>
[ConfigProAttribute("AIDI3_DefaultPosition", true)] //[ConfigProAttribute("AIDI3_DefaultPosition", true)]
public double AIDI3_DefaultPosition { get; set; } //public double AIDI3_DefaultPosition { get; set; }
/// <summary> /// <summary>
...@@ -647,8 +647,8 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -647,8 +647,8 @@ namespace OnlineStore.LoadCSVLibrary
MustHaveDIList.Add(IO_Type.WidthCheck2); MustHaveDIList.Add(IO_Type.WidthCheck2);
MustHaveDIList.Add(IO_Type.TrayCheck_LoadMaterial); MustHaveDIList.Add(IO_Type.TrayCheck_LoadMaterial);
MustHaveDIList.Add(IO_Type.OutCheck); MustHaveDIList.Add(IO_Type.OutCheck);
MustHaveDIList.Add(IO_Type.Door_Open); MustHaveDIList.Add(IO_Type.AutoDoor_Open);
MustHaveDIList.Add(IO_Type.Door_Close); MustHaveDIList.Add(IO_Type.AutoDoor_Close);
MustHaveDIList.Add(IO_Type.TrayCheck_Fixture); MustHaveDIList.Add(IO_Type.TrayCheck_Fixture);
MustHaveDIList.Add(IO_Type.CompressAxis_Check); MustHaveDIList.Add(IO_Type.CompressAxis_Check);
...@@ -671,8 +671,8 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -671,8 +671,8 @@ namespace OnlineStore.LoadCSVLibrary
MustHaveDOList.Add(IO_Type.Door_Down); MustHaveDOList.Add(IO_Type.Door_Down);
MustHaveDOList.Add(IO_Type.SuckingDisc_Up); MustHaveDOList.Add(IO_Type.SuckingDisc_Up);
MustHaveDOList.Add(IO_Type.SuckingDisc_Down); MustHaveDOList.Add(IO_Type.SuckingDisc_Down);
MustHaveDOList.Add(IO_Type.Door_Open); MustHaveDOList.Add(IO_Type.AutoDoor_Open);
MustHaveDOList.Add(IO_Type.Door_Close); MustHaveDOList.Add(IO_Type.AutoDoor_Close);
} }
public static void ConfigAxis(AUTO_SA_Config Config) public static void ConfigAxis(AUTO_SA_Config Config)
{ {
......
source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs
...@@ -138,11 +138,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -138,11 +138,11 @@ namespace OnlineStore.LoadCSVLibrary
/// <summary> /// <summary>
/// 门锁气缸打开端 Door_Open X13 DI-13 /// 门锁气缸打开端 Door_Open X13 DI-13
/// </summary> /// </summary>
public static string Door_Open = "Door_Open"; public static string AutoDoor_Open = "Door_Open";
/// <summary> /// <summary>
/// 门锁气缸关闭端 Door_Close X14 DI-14 /// 门锁气缸关闭端 Door_Close X14 DI-14
/// </summary> /// </summary>
public static string Door_Close = "Door_Close"; public static string AutoDoor_Close = "Door_Close";
/// <summary> /// <summary>
/// 料盘检测2（料叉机构） TrayCheck_Fixture X15 DI-15 /// 料盘检测2（料叉机构） TrayCheck_Fixture X15 DI-15
/// </summary> /// </summary>
......
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